Title:
DEVICE FOR CONTROLLING PARALLEL LINK MECHANISM
Document Type and Number:
WIPO Patent Application WO/2018/029910
Kind Code:
A1
Abstract:
A device for controlling a parallel link mechanism comprises an instruction unit (1) in which instructions for controlling an actuator (6a) and a drive control unit (5) that control driving of the parallel link mechanism are issued to the drive control unit (5). The instruction unit (1) is provided with a natural frequency estimation unit (4) that calculates, for each interpolation position of an end effector, an estimated value of the natural frequency, which changes in response to the position of the end effector. The calculations are made according to a dynamic model obtained by simulating a mechanical system from the base of the parallel link mechanism to a link joining part using a translation spring and simulating a mechanical system from the link joining part to the end effector using a single rigid body. The drive control unit (5) is provided with a filter that, for each interpolation position, changes a frequency component that is suppressed in accordance with an estimated value sequence for each interpolation position of the end effector calculated by the natural frequency estimation unit (4).
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Inventors:
IWASE MASAOKI (JP)
Application Number:
PCT/JP2017/015580
Publication Date:
February 15, 2018
Filing Date:
April 18, 2017
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J11/00; G05B11/36
Foreign References:
| JP2005196488A | 2005-07-21 | |||
| JPH11277469A | 1999-10-12 | |||
| JP2007272597A | 2007-10-18 | |||
| JP2005305584A | 2005-11-04 | |||
| JPH1148091A | 1999-02-23 | |||
| JPS61173305A | 1986-08-05 |
Attorney, Agent or Firm:
TAKAMURA, Jun (JP)
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